version: 66.04
glider: 512
mission: 1
dive: 459
start: 1 21 111 23 10 23
data:
$ID,512
$MISSION,1
$DIVE,459
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,740
$D_NO_BLEED,500
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,208
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51933
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-14906.651
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,184
$ROLL_MAX,3899
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3367
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.916836
$PRESSURE_SLOPE,0.00011360509
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,6
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,83
$DEVICE3,101
$DEVICE4,20
$DEVICE5,38
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043268236
$SEABIRD_T_H,0.00062176253
$SEABIRD_T_I,2.2895147e-05
$SEABIRD_T_J,2.4135268e-06
$SEABIRD_C_G,-9.7990599
$SEABIRD_C_H,1.0853468
$SEABIRD_C_I,-0.0020291714
$SEABIRD_C_J,0.00023101864
$GPS1,230340,2251.152,-15803.146,47,2.3,66,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-75.0
$GPS2,230934,2251.139,-15803.115,15,2.4,34,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.001,0.264
$KALMAN_X,-162993.2,-1780.0,-353.5,178735.5,1510.2
$KALMAN_Y,-433502.4,988.3,505.9,563247.9,-4926.9
$MHEAD_RNG_PITCHd_Wd,350.2,5971,-16.2,-9.615
$D_GRID,600
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.84,-155.7,0.0,0.0,0,56,0.00,0.00,-38.10,0.000,2,0.000,0.000,50,2646,2926
$GC,59,-0.84,-155.7,3.1,-5.1,5,99,11.48,2.17,-20.55,0.000,4,0.251,0.100,2608,3884,3962
$GC,206,-0.84,-155.7,36.1,-12.9,26,214,0.00,1.88,0.00,0.000,6,0.000,0.028,2613,2636,3964
$GC,469,-0.84,-155.7,92.1,-20.9,51,473,0.00,2.05,0.00,0.000,4,0.000,0.028,2623,1243,3965
$GC,518,-0.84,-155.7,100.0,-15.7,55,522,0.00,2.38,0.00,0.000,6,0.000,0.075,2613,2661,3965
$GC,782,-0.84,-155.7,139.8,-15.5,79,786,0.00,2.10,0.00,0.000,4,0.000,0.032,2622,1243,3966
$GC,817,-0.84,-155.7,144.4,-11.4,82,821,0.00,2.33,0.00,0.000,6,0.000,0.069,2618,2652,3967
$GC,1081,-0.84,-155.7,175.7,-12.6,106,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2653,3967
$GC,1331,-0.84,-155.7,205.4,-11.4,127,1335,0.00,2.08,0.00,0.000,4,0.000,0.027,2622,1237,3969
$GC,1370,-0.84,-155.7,209.5,-8.8,127,1376,0.00,2.30,0.00,0.000,6,0.000,0.067,2619,2650,3969
$GC,1620,-0.84,-155.7,233.1,-9.7,134,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2652,3969
$GC,1864,-0.84,-155.7,256.6,-9.5,140,1868,0.00,2.05,0.00,0.000,4,0.000,0.027,2626,1234,3969
$GC,1903,-0.84,-155.7,260.1,-7.7,140,1910,0.00,2.33,0.00,0.000,6,0.000,0.065,2619,2649,3969
$GC,2153,-0.84,-155.7,282.8,-9.2,147,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2649,3969
$GC,2397,-0.84,-155.7,305.6,-9.2,153,2401,0.00,2.12,0.00,0.000,4,0.000,0.091,2609,3893,3969
$GC,2426,-0.84,-155.7,308.2,-8.9,153,2429,0.00,1.85,0.00,0.000,6,0.000,0.031,2613,2623,3968
$GC,2687,-0.84,-155.7,330.3,-8.4,160,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2618,3968
$GC,2932,-0.84,-155.7,350.6,-8.3,166,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2618,3966
$GC,3175,-0.84,-155.7,370.2,-7.9,172,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2618,3965
$GC,3419,-0.84,-155.7,388.8,-7.5,178,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2618,3964
$GC,3662,-0.84,-155.7,407.3,-7.5,184,3666,0.00,2.20,0.00,0.000,4,0.000,0.089,2605,3887,3962
$GC,3697,-0.84,-155.7,409.8,-7.5,184,3701,0.00,1.83,0.00,0.000,6,0.000,0.033,2613,2643,3962
$GC,3955,-0.84,-155.7,429.9,-8.1,191,3958,0.00,2.03,0.00,0.000,4,0.000,0.030,2623,1264,3961
$GC,4215,-0.84,-155.7,451.9,-7.9,196,4219,0.00,2.22,0.00,0.000,6,0.000,0.056,2619,2655,3959
$GC,4465,-0.84,-155.7,474.9,-9.6,202,4470,0.00,2.12,-0.05,0.000,4,0.000,0.042,2628,1253,3977
$GC,4722,-0.84,-155.7,501.3,-9.1,207,4729,0.00,2.28,0.00,0.000,6,0.000,0.063,2620,2649,3975
$GC,4973,-0.84,-155.7,524.2,-9.3,214,4976,0.00,2.08,0.00,0.000,4,0.000,0.030,2627,1250,3974
$GC,5186,-0.84,-155.7,545.6,-9.1,218,5190,0.00,2.30,0.00,0.000,6,0.000,0.066,2620,2649,3973
$GC,5438,-0.84,-155.7,567.2,-8.7,224,5441,0.00,2.08,0.00,0.000,4,0.000,0.084,2619,3884,3972
$GC,5614,-0.84,-155.7,583.0,-9.1,227,5620,0.00,1.85,0.00,0.000,6,0.000,0.040,2626,2648,3970
$STATE,5820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5820,begin apogee
$GC,5828,-0.32,0.0,601.6,9.0,233,5955,0.50,0.00,124.68,1.088,6,0.089,0.000,2797,2565,3366
$STATE,5956,end apogee,CONTROL_FINISHED_OK
$STATE,5956,begin climb
$GC,5959,0.84,155.7,610.7,0.0,236,6101,1.05,2.30,133.43,1.073,4,0.073,0.030,3176,1140,2732
$GC,6359,0.90,199.7,620.0,7.8,245,6404,0.00,2.28,38.40,1.062,6,0.000,0.051,3176,2550,2552
$GC,6685,0.90,199.7,566.3,17.9,253,6689,0.00,2.15,0.00,0.000,4,0.000,0.032,3185,1135,2545
$GC,6943,0.90,199.7,526.0,15.2,258,6947,0.00,2.28,0.00,0.000,6,0.000,0.051,3179,2562,2543
$GC,7199,0.90,199.7,486.2,15.6,265,7203,0.00,2.12,0.00,0.000,4,0.000,0.031,3188,1138,2541
$GC,7457,0.90,199.7,451.1,13.4,270,7461,0.00,2.25,0.00,0.000,6,0.000,0.051,3188,2558,2541
$GC,7708,0.90,199.7,420.7,12.1,276,7710,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2558,2539
$GC,7953,0.90,199.7,394.5,10.7,282,7956,0.00,2.15,0.00,0.000,4,0.000,0.058,3187,3904,2538
$GC,8088,0.90,199.7,380.0,10.5,285,8092,0.00,2.03,0.00,0.000,6,0.000,0.031,3198,2539,2538
$GC,8378,0.91,209.5,352.3,9.2,292,8392,0.00,2.12,7.75,0.825,4,0.000,0.030,3208,1134,2512
$GC,8489,0.91,209.5,340.4,10.5,294,8493,0.00,2.25,0.00,0.000,6,0.000,0.052,3205,2548,2512
$GC,8751,0.91,209.5,310.5,11.5,301,8755,0.00,2.10,0.00,0.000,4,0.000,0.031,3214,1132,2510
$GC,9008,0.91,209.5,281.0,10.2,306,9012,0.00,2.28,0.00,0.000,6,0.000,0.053,3214,2555,2510
$GC,9259,0.97,257.5,259.7,7.6,312,9308,0.00,2.20,42.35,0.890,4,0.000,0.030,3224,1145,2317
$GC,9561,0.97,257.5,207.9,18.8,318,9567,0.00,2.25,0.00,0.000,6,0.000,0.049,3218,2549,2311
$GC,9823,0.97,257.5,154.4,19.8,340,9826,0.00,2.12,0.00,0.000,4,0.000,0.031,3227,1135,2310
$GC,10024,0.97,257.5,116.9,16.1,358,10028,0.00,2.28,0.00,0.000,6,0.000,0.053,3218,2554,2309
$GC,10287,0.97,257.5,73.7,14.5,382,10291,0.00,2.10,0.00,0.000,4,0.000,0.029,3227,1130,2309
$GC,10543,1.04,315.8,53.5,7.2,405,10598,0.00,2.25,48.78,0.709,6,0.000,0.050,3227,2549,2078
$STATE,10776,end climb,SURFACE_DEPTH_REACHED
$STATE,10776,begin surface coast
$FINISH,0.1,1.023963
$STATE,10789,end surface coast,CONTROL_FINISHED_OK
$STATE,10789,begin surface
$SM_CCo,10810,19.62,0.633,0,0,1939,350.04
$SM_GC,3.49,0.00,0.00,19.62,0.000,0.000,0.633,45,2678,1939,-8.92,0.82,350.04
$IRIDIUM_FIX,2241.69,-15802.37,160400,202034
$TT8_MAMPS,0.023777
$HUMID,1856
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,21.50
$XPDR_PINGS,1
$24V_AH,23.7,59.928
$10V_AH,10.7,34.591
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.050,86.350,395.375,19.625,0.000,28.850,36.029,152.174,0.250,0.000,0.000,35.151,978.244,7353.275,433.027,1953.838,466.607,33.370,1248.463,0.000,1913.736,0.000,0.543,0.000
$DEVICE_MAMPS,250.809,99.710,1088.373,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,296.306,631.889,651.683,137.008,569.993,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35011,437
$CAP_FILE_SIZE,89870,0
$CFSIZE,260165632,243105792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,220111,021207,2251.566,-15803.043,34,1.8,34,10.1